/*
 * @Description: 关键帧，在各个模块之间传递数据
 * @Author: Zhijian Qiao
 * @Date: 2020-02-28 19:13:26
 */
#ifndef avp_slam_SENSOR_DATA_KEY_FRAME_HPP_
#define avp_slam_SENSOR_DATA_KEY_FRAME_HPP_

#include <Eigen/Dense>

namespace avp_slam {
    class KeyFrame {
    public:
        double time = 0.0;
        unsigned int index = 0;
        Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();

    public:
        Eigen::Quaternionf GetQuaternion();
    };
}

#endif